Multifunctional platform for assembling, bearing and hoisting large UUV and using method

Abstract

The invention belongs to the field of large UUVs, and provides a multifunctional platform for assembling, bearing and lifting a large UUV and a using method. By combining the assembling link and the hoisting link, the cost is controlled while the rigidity of the large UUV is guaranteed, and the utilization efficiency of the large UUV is higher; the saddle and the lifting lug plate are arranged, so that the influence of large bending moment on the platform is reduced; the two-degree-of-freedom movement is completed through the movable saddles, and the posture adjustment of the UUV at the axial position can be completed while the actual stress of each saddle is reasonably distributed; by means of a mechanical limiting mechanism, the phenomenon that the structure of the UUV is damaged due to dislocation of the flange end face and the saddle face is prevented; and the UUV can smoothly enter and exit along the axial direction through the clamping mechanism. Assembling and hoisting are fully combined, launching hoisting operation after primary assembling can be completed, hoisting to a workshop after launching can also be completed for maintenance and the like, and the device has the advantages of being ingenious in conception, reliable in work and convenient to use.

Description

Technical Field

[0001] The present invention relates to the field of large-scale UUVs, and in particular to a multifunctional platform for assembling, carrying and lifting large-scale UUVs and a use method thereof. Background Art

[0002] For large UUVs, due to their large size, they cannot be manufactured in one piece. Each compartment needs to be manufactured independently, and then leveled, assembled and installed on the assembly platform. Therefore, it is necessary to design an assembly platform to lift the above-mentioned compartments, and at the same time, it can adjust the height within a certain range to assist the assembly cart to complete the overall assembly. In addition, since the flanges between the compartments are connected by bolts, directly transferring the UUV from the assembly platform to the lifting platform by the overhead crane will cause the overall UUV to be insufficiently rigid and thus damage the structure. Therefore, it is necessary to design a multifunctional platform that can be used to complete the assembly of large UUVs while serving as a lifting platform to complete the deployment and recovery of UUVs.

[0003] Traditional UUVs are no longer than 10 meters, and their interiors are mostly made of carbon fiber structures. They are much lighter than large UUVs, and because of their small size, they do not need to consider their own rigidity. Therefore, for the previous UUV assembly process, it is only necessary to make the UUV support frame and skin into a whole during the carbon fiber molding stage to complete the assembly, without considering the problem of segmented assembly. In the deployment and recovery stage, also because the overall molding has good rigidity and is short in length, generally an interface is set at the upper end of the UUV to connect with the lifting beam to complete the lifting of the UUV. However, since the large UUV is more than 40 meters long and has a metal frame inside, the flanges between the compartments need to be screwed together. Each section is heavy and has poor rigidity, so the above assembly and lifting methods do not meet the needs of this large UUV, so it is necessary to design an additional multi-functional platform to complete the above links.

[0004] Based on this, the point of this design application is to design a multifunctional platform by combining the assembly and lifting links of the large UUV. After solving the assembly problem of the large UUV, the UUV and the platform can be directly shipped to the port, completing a series of problems from assembly to lifting, deployment and recovery of the large UUV. Summary of the invention

[0005] The technical problem to be solved by the present invention is: in order to solve the problems of difficulty in transportation and insufficient rigidity of large UUVs during the process of assembly and debugging on land, lifting, deployment and recovery, a multifunctional platform for assembling, carrying and lifting large UUVs is designed and provided, and a method for using the same is provided. The present invention combines the assembly and lifting links of large UUVs together, solves the assembly problem of large UUVs, and can directly ship the UUVs and the platform to the port, completing a series of problems from assembly to lifting, deployment and recovery of large UUVs.

[0006] The technical solution of the present invention is as follows:

[0007] A multifunctional platform for assembling, carrying and lifting a large UUV, comprising a supporting mobile saddle 1, a clamping mechanism 2, a guard plate 3, a lifting lug plate 4, a basic platform 5 and a mechanical limiting mechanism 6; a plurality of supporting mobile saddles 1 are arranged in sequence on the basic platform 5, the position of each supporting mobile saddle 1 corresponds to between the flanges of each compartment section of the UUV, vertical plates are arranged at positions corresponding to the positions of the supporting mobile saddle 1 on both sides of the basic platform 5, and the vertical plates have grooves; lifting guide rails 9 are arranged outside the two ends of the supporting mobile saddle 1, which are movably connected to the grooves of the vertical plates of the basic platform 5; a lifting screw is arranged below the supporting mobile saddle 1 for changing the height of the supporting mobile saddle 1; lifting lug plates 4 are arranged on both sides of the basic platform 5, and the lifting lug plates 4 and the supporting mobile saddle 1 are located on the basic platform 5. On the same cross section of the platform 5; a mechanical limiting mechanism 6 is set at one end of the basic platform 5, and the lifting ear plate 4 is removed at the corresponding position of the supporting movable saddle 1 at one end of the basic platform 5; guard plates 3 are installed on both sides of the basic platform 5, and clamping mechanisms 2 are installed on the top of the guard plates 3; each supporting movable saddle 1 includes a saddle movable component 7, a buffer roller 8, and a mechanical transmission mechanism 10; the supporting movable saddle 1 is a square frame, in which a number of adjacent buffer rollers 8 are arranged, and two saddle movable components 7 are respectively slidably connected to both sides of the square frame, which are connected to the mechanical transmission mechanism 10; after twisting the turbine on the mechanical transmission mechanism 10, the saddle movable component 7 is driven to move, and the distance between the two saddle movable components 7 is changed; the bottom end of the saddle movable component 7 is higher than the top of the buffer roller 8.

[0008] A method for using a multifunctional platform for assembling, carrying and lifting a large UUV comprises the following steps:

[0009] Step 1, remove the clamping mechanism 2, the guard plate 3, the shackle and the mechanical limit mechanism 6;

[0010] Step 2: The assembly trolley places the cabin section on the supporting movable saddle 1; when there is a deviation of more than 10 mm during the centering process, the assembly trolley intervenes again for adjustment; when the deviation is less than 10 mm, the supporting movable saddle 1 is used for adjustment;

[0011] The adjustment of the supporting movable saddle 1 is specifically as follows: when there is a height deviation, the lifting screw below the supporting movable saddle 1 cooperates with the lifting guide rail 9 on the supporting movable saddle to complete the lifting and lowering of the supporting movable saddle 1; when there is a deviation on the left and right sides, the mechanical transmission mechanism 10 of the supporting movable saddle 1 inputs a torque to drive the saddle movable component 7 to adjust and thus drive the movement of the cabin section;

[0012] Step 3, when the support movable saddle 1 is adjusted, the structure disassembled in step 1 is positioned and installed, and at the same time, the clamping mechanism 2 is adjusted to a distance from the side of the UUV through a corresponding handle to prevent the UUV from deflecting during the lifting process;

[0013] Step 4: After completing the above steps, connect the wire rope to the multifunctional platform and the shackle of the hanging beam, and adjust the preload of the wire rope to complete the weight balancing; in the lifting link, the overhead crane lifts the UUV and the multifunctional platform together through the upper hanging beam and transports them to the dock. When the multifunctional platform reaches the designated position, the platform is lowered into the water; under the action of water buoyancy, the UUV gradually separates from the supporting mobile saddle 1, and the stern of the UUV is dragged by a tugboat. At this time, the clamping mechanism 2 cooperates with the tugboat to slowly drag it away from the multifunctional platform;

[0014] Step 5. When the UUV enters the multi-functional platform, drag the bow of the UUV and pull it into the multi-functional platform. At this time, the handle on the clamping mechanism 2 is adjusted to drive the internal large transmission ratio reduction mechanism, thereby changing the movement spacing of the clamping mechanism 2 to ensure that the UUV passes through the center line of the multi-functional platform; after the UUV reaches a certain position, the mechanical limit mechanism 6 on the multi-functional platform collides with the mechanical limit on the UUV to position the length direction of the UUV; when the UUV is offset axially, the axial direction of the UUV is adjusted by adjusting the mechanical transmission mechanism 10 supporting the movable saddle so that it can sit on the supporting movable saddle 1.

[0015] The beneficial effects of the present invention are as follows: by combining the assembly and lifting links, the rigidity of the large UUV is ensured, while the cost is controlled, making its utilization efficiency higher; by the reasonable arrangement of the saddle and the lifting lug plate, the influence of the large bending moment on the platform is reduced; by the movable saddle, the double-degree-of-freedom movement is completed, and the actual force of each saddle can be reasonably distributed while the posture adjustment of the UUV in the axial position is completed; by the mechanical limit mechanism, the flange end face and the saddle surface are prevented from being misaligned, thereby destroying the UUV's own structure; by the clamping mechanism, it is ensured that the UUV can smoothly move in and out along its axial direction. The present invention fully combines assembly and lifting, and can complete the lifting operation after the initial assembly, as well as the maintenance operation of lifting to the workshop after launching. The present invention has the characteristics of ingenious conception, reliable operation, easy use, and multi-purpose. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is a schematic diagram of a multifunctional platform structure for assembling, carrying and lifting large UUVs;

[0017] Figure 2 It is a schematic front view of a multifunctional platform for assembling, carrying and lifting large UUVs;

[0018] Figure 3Schematic diagram of supporting mobile saddle.

[0019] In the figure: 1-supporting movable saddle, 2-clamping mechanism, 3-guard plate, 4-lifting ear plate, 5-basic platform, 6-mechanical limiting mechanism, 7-saddle movable component, 8-buffer roller, 9-lifting guide rail, 10-mechanical transmission mechanism. DETAILED DESCRIPTION

[0020] All the mechanisms on the multifunctional platform are located on the base platform. The flange surfaces of the large UUV are supported by the supporting mobile saddle on the base platform to reduce the deformation of the metal frame of the large UUV. The base platform is connected to the upper hanging beam dedicated to the large UUV through the lifting lugs and wire ropes. In order to ensure that the wire ropes at the lifting lugs are evenly stressed, the lifting lugs of the upper hanging beam need to be on the same vertical line as the lifting lugs of the base platform to prevent unnecessary bending moments in the axial direction from affecting the overall stiffness of the UUV and the multifunctional platform. During the lifting and transportation of the large UUV, each lifting lug is also on the same cross section as the supporting mobile saddle, ensuring that the gravity (at the saddle support surface) and tension (at the lifting lugs) on the base platform do not generate a lever arm, thereby eliminating the influence of bending moments on the base platform.

[0021] The multifunctional platform designed in the embodiment of the present invention is composed of: 8 supporting movable saddles including lifting screws, 7 groups of 14 lifting ear plates and corresponding shackles, 6 groups of 12 clamping mechanisms, 2 mechanical limit mechanisms (including two parts installed on the UUV and the multifunctional platform), a basic platform and a guard plate, etc.

[0022] In the assembly process, all mechanisms not related to the assembly are disassembled, and only the mobile support saddle 1 and the basic platform 5 are retained. Tracks are laid in the space between the mobile support saddles 1 for the assembly trolley to travel between the mobile support saddles 1. Each of the above-mentioned mobile support saddles 1 is located between the cabin flanges and is used to bear the weight of each cabin. In the initial stage of assembly, the assembly trolley will complete the transportation and posture adjustment of each cabin at a position higher than the mobile support saddle 1. After the initial adjustment of the two cabins that need to be screwed together is completed, the assembly trolley lowers the two adjusted cabin sections through the lifting hydraulic rod until the mobile support saddle 1 fully bears the weight of the cabin. The hydraulic rod of the assembly trolley continues to descend to a certain height, and the trolley is separated from the cabin and moved out of the basic platform 5 through the motor of the wheel. At this point, the assembly trolley completes this assembly. At the same time, in order to prevent the cabin from being deflected on the saddle and affecting the screw connection process between the cabins, the mobile support saddle 1 can not only complete the centering of the bolt holes in the vertical direction by the lifting screw, but also drive the cabin to move slightly by adjusting the sliding amount of the saddle movable component 7 on the guide rail to ensure the completion of the saddle clamping or centering function. Similarly, when the cabins are adjusted and assembled, all cabins will be located on the mobile support saddle 1. In order to prevent the manufacturing and assembly errors from affecting the final force of each saddle, in addition to adjusting the height of the saddle by the screw after each cabin installation, the mobile support saddle 1 needs to be moved in the height direction by the lifting screw after the final assembly to ensure that the force of each mobile support saddle 1 meets the pressure value during the simulation calculation. For the convenience of observation, stress strain gauges can be used to observe the stress so that the actual force of the saddle is basically the same as the theoretical force.

[0023] In the lifting link, all the mechanisms of the present invention are installed on the base platform 5. The lifting ear plate 4 is connected to the shackle on the lifting beam through a steel wire rope; the clamping mechanism 2 can adjust the distance between the clamping mechanism rubber plate and the UUV through a handle to prevent the UUV from having lateral displacement due to factors such as waves and wind direction during the deployment and recovery process, and ensure that the UUV can smoothly enter and exit the multi-functional platform entrance and exit without scratching the multi-functional platform; the guard plate 3 connects each clamping mechanism 2 to prevent the clamping mechanism 2 from shaking due to excessive height. During the deployment process of the lifting link, the multi-functional platform will be completely immersed in water, the UUV will be separated from the multi-functional platform, and the UUV will be towed out by a tugboat in an unpowered state. At this time, the clamping mechanism 2 prevents the UUV from limiting axial displacement and buffering, and the deployment process of the UUV is completed. During the recovery process of the lifting link, the UUV is also towed in by the tugboat in an unpowered state. In order to prevent errors in the matching of the flange of the UUV and the mobile support saddle 1, mechanical limit mechanisms are installed on the multi-functional platform and the UUV respectively. When the mechanical limit mechanism installed on the UUV contacts the limit mechanism installed on the multi-functional platform, it means that the flange surface of the UUV and the saddle surface are on the same cross-section. At the same time, through the underwater operation of professionals, the clamping mechanism on the multi-functional platform and the saddle movable component 7 on the saddle are adjusted to ensure that the posture of the UUV in the axial direction is not deflected. When there is no visual deviation, the professionals evacuate the platform, and then the lifting personnel slowly lift the multi-functional platform through the upper lifting beam. The UUV will gradually contact the mobile support saddle 1 under the action of gravity until the mobile support saddle 1 fully bears the weight of the UUV, thus completing the recovery process of the UUV.

[0024] When the UUV is in the assembly stage, the clamping mechanism 2, the guard plate 3, the shackle and the mechanical limit mechanism 6 all need to be removed to meet the passage space of the assembly trolley. The assembly trolley has a total of 6 degrees of freedom, and can lift the cabin section alone or in combination to complete the alignment between adjacent cabin sections. After adjusting to the appropriate position, the assembly trolley places the cabin section on the mobile support saddle 1, and the trolley then withdraws from the basic platform 5. When there is a large deviation during the alignment process, the assembly trolley can be adjusted again; when the error is small, it can be adjusted by supporting the mobile saddle 1: that is, when there is a slight deviation in height, the lifting screw under the supporting mobile saddle 1 can be coordinated with the lifting guide rail on the supporting mobile saddle 1 to complete the lifting and lowering of the supporting mobile saddle 1; when there is a slight deviation on the left and right, the mechanical transmission mechanism 10 of the supporting mobile saddle 1 can be used to input torque to drive the saddle movable component 7 to adjust and thus drive the movement of the cabin section. The buffer roller in the middle of the supporting mobile saddle 1 can not only prevent the trolley from generating a large impact when the cabin section is connected to the supporting mobile saddle 1, but also avoid the impact force of direct contact between the UUV and the saddle during the recovery link of the lifting. After the overall assembly of the UUV is completed, the supporting mobile saddle 1 can also be adjusted to adjust the height according to the value of the stress strain gauge to ensure that each supporting mobile saddle 1 is stressed to avoid partial cabin sections being suspended in the air, affecting the straightness and rigidity of the UUV's appearance. When the supporting mobile saddle 1 is adjusted, the structure to be disassembled will be positioned and installed, and the clamping mechanism 2 will adjust its distance from the side of the UUV through the corresponding handle to prevent the UUV from having a large offset during the lifting process. After completing the above steps, the wire rope is connected to the shackles of the multi-functional platform and the lifting beam, and the weight balance is completed by adjusting the pre-tightening force of the wire rope. At this time, it has the ability to lift.

[0025] During the lifting process, the overhead crane lifts the UUV and the multifunctional platform together through the upper lifting beam and transports them to the dock. When the multifunctional platform reaches the designated position, the multifunctional platform is lowered into the water. Under the action of water buoyancy, the UUV will gradually separate from the supporting mobile saddle 1. At this time, the stern of the UUV is dragged by a tugboat. At this time, the clamping mechanism 2 cooperates with the tugboat to slowly drag it away from the multifunctional platform. Similarly, when the UUV enters the multifunctional platform, the bow of the UUV is dragged and pulled into the multifunctional platform. At this time, the spacing of the clamping mechanism 2 is adjusted to ensure that the UUV passes through the center line of the multifunctional platform. After the UUV reaches a certain position, the mechanical limit on the multifunctional platform collides with the mechanical limit on the UUV to position the length direction of the UUV. At this time, the platform is slowly pulled up. When the distance between the boat and the saddle is getting closer and closer, the lifting is stopped, and the professional underwater personnel visually judge whether the UUV and the saddle fit. If the UUV is offset in the axial direction, the mechanical transmission mechanism supporting the mobile saddle can be adjusted to adjust the axial direction of the UUV so that it can sit on the saddle, avoiding the problem of excessive local stress caused by non-fitting of the profile. When the inspection is correct, continue to lift the multifunctional platform until it is completely out of the water, and then the UUV will be sent to the workshop to complete the process of disassembly and reassembly.

[0026] In addition to the above embodiments, the present invention may also have other implementation modes. Any technical solution formed by equivalent replacement or equivalent transformation falls within the protection scope required by the present invention.

Claims

1. A multifunctional platform for assembling, carrying and lifting large UUVs, characterized in that: The multifunctional platform for assembling, carrying and lifting a large UUV comprises a supporting mobile saddle (1), a clamping mechanism (2), a guard plate (3), a lifting lug plate (4), a base platform (5) and a mechanical limiting mechanism (6); a plurality of supporting mobile saddles (1) are arranged in sequence on the base platform (5), the position of each supporting mobile saddle (1) corresponds to between the flanges of each cabin section of the UUV, vertical plates are arranged at positions corresponding to the positions of the supporting mobile saddles (1) on both sides of the base platform (5), and the vertical plates have grooves; lifting guide rails (9) are arranged outside the two ends of the supporting mobile saddle (1) and are movably connected to the grooves of the vertical plates of the base platform (5); a lifting screw is arranged below the supporting mobile saddle (1) for changing the height of the supporting mobile saddle (1); lifting lug plates (4) are arranged on both sides of the base platform (5), and the lifting lug plates (4) and the supporting mobile saddle (1) are located on the same cross section of the base platform (5). ; A mechanical limit mechanism (6) is arranged at one end of the base platform (5), and a lifting ear plate (4) is removed at a corresponding position of the supporting movable saddle (1) at one end of the base platform (5); guard plates (3) are installed on both sides of the base platform (5), and a clamping mechanism (2) is installed on the top of the guard plates (3); each supporting movable saddle (1) comprises a saddle movable component (7), a buffer roller (8) and a mechanical transmission mechanism (10); the supporting movable saddle (1) is a square frame, in which a plurality of adjacent buffer rollers (8) are arranged, and two saddle movable components (7) are respectively slidably connected to the two sides of the square frame, which are connected to the mechanical transmission mechanism (10); the mechanical transmission mechanism (10) is a worm gear mechanism, and after the worm wheel is twisted, the saddle movable component (7) is driven to move, and the distance between the two saddle movable components (7) is changed, and the worm gear mechanism is self-locking; the bottom end of the saddle movable component (7) is higher than the top of the buffer roller (8).

2. A method for using a multifunctional platform for assembling, carrying and lifting a large UUV, characterized in that: The steps include: Step 1, dismantle the clamping mechanism (2), the guard plate (3), the shackle and the mechanical limit mechanism (6); Step 2: The assembly trolley places the cabin section on the supporting movable saddle (1); when there is a deviation of more than 10 mm during the centering process, the assembly trolley intervenes again for adjustment; when the deviation is less than 10 mm, adjustment is performed through the supporting movable saddle (1); The adjustment of the supporting movable saddle (1) is specifically as follows: when a height deviation occurs, the lifting screw below the supporting movable saddle (1) cooperates with the lifting guide rail (9) on the supporting movable saddle to complete the lifting and lowering of the supporting movable saddle (1); when a deviation occurs to the left or right, a torque is input through the mechanical transmission mechanism (10) of the supporting movable saddle (1), driving the saddle movable component (7) to adjust, thereby driving the movement of the cabin section; Step 3, after the adjustment of the supporting movable saddle (1) is completed, the structure disassembled in step 1 is positioned and installed, and at the same time, the clamping mechanism (2) is adjusted to a distance from the side of the UUV through a corresponding handle to prevent the UUV from deflecting during the lifting process; Step 4: After completing the above steps, connect the wire rope to the multi-functional platform and the shackle of the hanging beam, and complete the weight balancing by adjusting the pre-tightening force of the wire rope; In the lifting process, the overhead crane lifts the UUV and the multifunctional platform together through the upper lifting beam and transports them to the dock. When the multifunctional platform reaches the designated position, the platform is lowered into the water. Under the action of the buoyancy of the water, the UUV gradually separates from the supporting mobile saddle (1), and the stern of the UUV is towed by a tugboat. At this time, the clamping mechanism (2) cooperates with the tugboat to slowly tow it away from the multifunctional platform. Step 5, when the UUV enters the multifunctional platform, the bow of the UUV is dragged to pull it into the multifunctional platform. At this time, the handle on the clamping mechanism (2) is adjusted to drive the internal large transmission ratio reduction mechanism, thereby changing the moving spacing of the clamping mechanism (2) to ensure that the UUV passes through the center line of the multifunctional platform; after the UUV reaches a certain position, the mechanical limit mechanism (6) on the multifunctional platform collides with the mechanical limit mechanism on the UUV to position the length direction of the UUV; when the UUV is offset in the axial direction, the axial direction of the UUV is adjusted by adjusting the mechanical transmission mechanism (10) supporting the movable saddle so that it can sit on the movable saddle (1).

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